nielsvd

Public-domain implementation of SHA-1: http://www.dominik-reichl.de/projects/csha1/

Hi Gianluca, thanks for the quick response!

@markusgft ``d_ocp_qp_set_lbx_mask`` and the likes seem to work for me, from my interpretation of the source code, this is also the intended use-case. But I'm not 100% sure. My interpretation:...

Sorry for my late reply. Please find an example below (it's included as an image to display the maths nicely). To my knowledge the actuator inertia in the example below...

In response to the comments by @scpeters: - Yes `v_k` is measured in the link center-of-mass, an important note I forgot to state in the example. - I am not...

Is there an update regarding this request? I'm refactoring code here, and I would like to get rid of our definitions of the Lie-bracket operations outside of manif. If it...